EgoPHI: Estimating 3D Hand-Object Contact and Force from Egocentric Vision
Understanding hand-object interaction from egocentric vision is essential for modeling how people physically engage with the surrounding world. Yet reasoning about physically grounded interaction requires estimating the forces acting on hands and objects, beyond localizing contact. We present EgoPHI, the first method that jointly estimates dense contact maps and 3D force distributions on hand and object meshes from a single monocular RGB image and object geometry. To address the lack of scalable ground-truth force annotations, we introduce a physics-based simulation pipeline that augments existing hand-object datasets with dense per-vertex force supervision. EgoPHI then learns dense 3D co...
| Authors | Andela Ilic, Rachel Schuchert, Yijing Jiang et al. |
|---|---|
| Primary category | cs.CV |
| Published | 13 August 2026 |
| Last updated at source | 15 September 2026 |
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